SiLVIA - A Simulation Library for Virtual Reality Applications. - Günter Hotz; Andreas Kerzmann; Christian Lennerz; Rainer Schmid; Elmar Schömer; Thomas Warken (VR, 1999)

Calculation of contact forces. - Günter Hotz; Andreas Kerzmann; Christian Lennerz; Rainer Schmid; Elmar Schömer; Thomas Warken (VRST, 1999)

Rolling Rigid Bodies. - Thomas Warken; Elmar Schömer (WSCG, 2001)

Collision detection for curved rigid objects in the context of dynamics simulations. - Thomas Warken (2004)